B-82604EN/01 OPERATION6.ADDRESS ASSIGNMENT TO POINTS
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6.7 READING FROM AND WRITING INTO SYSTEM
VARIABLES (%R)
Robot controller system variables can be read from and written into
through CIMPLICITY. Set $SNPX_ASG to perform %R assignment
in the same manner as for registers.
When assigning system variables, set the elements of $SNPX_ASG as
follows:
$SNPX_ASG element Explanation
$ADDRESS Meaning: Start address of %R to be assigned
Range: 1 to 16384
$SIZE Meaning: Number of %R’s to be assigned
The number of %R’s required for a system variable depends on the data type
of the system variable. For details, see the table given below.
(The number of %R’s used for one system variable can be changed by
specifying @ in $VAR_NAME.)
Range: 1 to 16384
$VAR_NAME Meaning: Character string indicating the data to be assigned
When assigning a system variable, set a system variable name such as
$WAITTMOUT.
When a system variable with an array such as UALARM_SEV[1] is specified,
array elements are assigned successively in the same manner as for
registers.
When assigning a KAREL variable, set character string indicating a KAREL
program name and a KAREL variable name such as
$[KAREL-program-name]KAREL-variable-name.
$MULTIPLY Meaning: Multiplier
The meaning of this element varies depending on the data type of the
specified system variable. For details, see the table given below.
CAUTION
The reading from and writing to KAREL variables
functions are supported by R-J3iB system software
7D80, 45 or later, and 7D81, 09 or later, and
R-30iA(R-J3iC).
When a system varialbe is read from or wriiten to, the data type used
with CIMPLICITY reads from or writes into the system variable and
the meaning of $MULTIPLY vary depending on the data type of the
system variable. In addition, CIMPLICITY cannot sometimes read
from or write into a system variable depending on the data type of the
system variable.
For the data types of sysmte variables that can be read from and
written into through CIMPLICITY, the number of %R’s used for each
system variable, the meaning of $MULTIPLY, and the data type used
for read write by CIMPLICITY, see the table given below.
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